| 摘要 |
An acceleration signal generating portion 11 inputs a machine velocity vm of a drive machine 32 and outputs an acceleration signal af of low frequency. Also, a pseudo torque signal generating portion 12 inputs a torque command taur, removes the noise, and outputs a pseudo torque signal tauf of low frequency. Also, a torque error signal calculating portion 14 subtracts a product of the acceleration signal af and a previous mechanical constant estimated value Je(k-1) calculated in a multiplication circuit 13 from the pseudo torque signal tauf of low frequency, and outputs a torque error signal tauerr as a disturbance torque estimated value taud0. Also, a mechanical constant estimation gain portion 16 estimates the mechanical constant by inputting a torque error derivative signal dtauerr that is generated by torque error derivative signal generating portion 15 by inputting a torque error signal tauerr. Also, a mechanical constant estimation gain portion 16 starts or stops to update the mechanical constant estimating operation, based on a disturbance torque estimated value taud0, or alters the mechanical constant estimation gain. Also, a mechanical constant estimated value operating portion 17 adds the previous mechanical constant estimated value Je(k-1) to the error output from the mechanical constant estimation gain portion 16, and outputs the mechanical constant estimated value Je(k).
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